Adept technology Adept RS-232/TERM Betriebsanweisung PDF herunterladen (Seite 3)

Adept Cobra

s600/s800 Robot

User's Guide

P/N: 03017-000, Rev L

April, 2013

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450

Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598

1 2 3 4 5 6 7 8 ... 125 126

Adept Cobra 1
Copyright Notice 4
Table of Contents 5
Chapter 5: Maintenance 53 6
Page 7 of 126 7
Chapter 8: IP-65 Option 109 8
Chapter 1: Introduction 9
Adept SmartController™ 11
1.3 Safety Precautions 13
1.7 Installation Overview 14
1.9 How Can I Get Help? 15
Adept Document Library 16
Chapter 2: Robot Installation 17
2.3 Repacking for Relocation 18
2.5 Mounting the Robot 19
Robot Mounting Procedure 20
3.1 System Cable Diagram 23
3.2 Cable and Parts List 24
PC Requirements 25
Installing 24 VDC Robot Cable 28
Frame Ground 29
Specifications for AC Power 30
IEC1131-2, the following 31
AC Power Diagrams 31
200–240VAC 32
Grounding the Robot Base 33
Chapter 4: System Operation 35
4.3 Brakes 37
4.4 Front Panel 38
- + - + 40
Optional I/O Products 42
XIO Input Signals 42
XIO Input Specifications 43
Adept-Supplied Equipment 44
User-Supplied Equipment 44
Ω @ 85° C 45
Pin 9Pin 1 47
Pin 18Pin 10 47
Verifying Installation 48
Turning on Power 49
Starting Adept ACE 50
Enabling High Power 50
Verifying E-Stop Functions 50
Verify Robot Motions 51
Chapter 5: Maintenance 53
5.3 Checking Safety Systems 54
5.5 Checking for Oil Leakage 54
5.6 Lubricating Joint 3 55
Page 57 of 126 57
Prerequisites 63
E-Stop Configuration Utility 64
E-Stop Verification Utility 64
Procedure 65
Automatic Mode Procedure 65
Manual Mode Procedure 66
Battery Replacement Procedure 67
6.1 Installing End-Effectors 69
6.3 User Connections on Robot 70
6.4 Internal User Connectors 71
SOLND Connector 73
OP3/4 Connector 73
EOAPWR Connector 74
Typical ESTOP 76
Connector Circuit 76
Tools Required 79
Camera Plate 84
Camera Brackets (optional) 84
Camera Channel 84
Camera 84
LOCAL = "/MACID local_id 85
/BAUD baud_rate" 85
Joint 1 Adjustable Hardstops 87
Joint 2 Adjustable Hardstops 91
7.1 Dimension Drawings 99
Page 100 of 126 100
Page 101 of 126 101
Page 102 of 126 102
Page 103 of 126 103
Page 104 of 126 104
Connections 105
Cobra s600/s800 105
Internal Connections 105
SmartController 105
7.4 XSLV Connector 106
7.5 Robot Specifications 106
Chapter 8: IP-65 Option 109
Installation Procedure 110
Cover Removal Procedure 112
Sealing the Tool Flange 114
Pressurizing the Robot 114
8.5 User Connectors 115
User Air Lines 116
8.6 Maintenance 117
Page 119 of 126 119
Chapter 9: Cleanroom Robots 121
9.1 Connections 122
9.2 Requirements 122
9.4 Cleanroom Maintenance 123
P/N: 03017-000, Rev L 126

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